Generates noise that is applied onto the trajectory while keeping the goal pose within the task manifold. The parameters are as follows:
noise_generator:
- class: stomp_moveit/GoalGuidedMultivariateGaussian
stddev: [0.1, 0.05, 0.1, 0.05, 0.05, 0.05, 0.05]
goal_stddev: [0.0, 0.0, 0.0, 0.0, 0.0, 2.0]
constrained_dofs: [1, 1, 1, 1, 1, 0]
- class: The class name.
- stddev: The amplitude of the noise applied onto each joint.
- goal_stddev: The amplitude of the noise applied onto each cartesian DOF at the goal. The array has the following form [px, py, pz, rx, ry, rz].
- constrained_dofs: Indicates which cartesians DOF are fully constrained (1) or unconstrained (0). This vector is of the form [x y z rx ry rz] where each entry can only take a value of 0 or 1.